root / toolbox / main.c @ 975af07c
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1 | 20e5429c | Tom Mullins | #include <stdint.h> |
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2 | 12ea39cc | Tom Mullins | #include <string.h> |
3 | #include <avr/io.h> |
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4 | 20e5429c | Tom Mullins | #include <util/delay.h> |
5 | #include "mb.h" |
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6 | #include "mbport.h" |
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7 | #include "tooltron_mb.h" |
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8 | 9b2b6d91 | Tom Mullins | #include "rfid.h" |
9 | 532ba0bd | Tom Mullins | #include "led.h" |
10 | 10936c07 | Tom Mullins | #include "current.h" |
11 | 94548bf4 | Tom Mullins | #include "time.h" |
12 | 20e5429c | Tom Mullins | |
13 | a96c5547 | Tom Mullins | #if TOOL_ADDRESS < 0 |
14 | #error Please define TOOL_ADDRESS
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15 | #endif
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16 | |||
17 | 12ea39cc | Tom Mullins | enum toolstate_t {
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18 | TS_INIT, |
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19 | TS_OFF, |
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20 | TS_WAIT_ACCESS, |
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21 | f5d1f56a | Tom Mullins | TS_DENY, |
22 | 12ea39cc | Tom Mullins | TS_REQ_DIS, |
23 | TS_MISSING_ID, |
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24 | TS_ON |
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25 | }; |
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26 | |||
27 | static enum toolstate_t toolstate = TS_INIT; |
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28 | 6ca98a3f | Tom Mullins | static uint8_t coils;
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29 | 1b054655 | Tom Mullins | static uint8_t latest_reading[RFID_SERNO_SIZE];
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30 | 6ca98a3f | Tom Mullins | static uint8_t current_user[RFID_SERNO_SIZE];
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31 | 10936c07 | Tom Mullins | static uint16_t current;
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32 | f4df665c | Tom Mullins | //static uint16_t current_max_warn, current_max_hard;
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33 | 208a6fb2 | Tom Mullins | |
34 | static inline void set_coil(char coil, char bit) { |
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35 | 6ca98a3f | Tom Mullins | coils = (coils & ~(1 << coil)) | (bit << coil);
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36 | 208a6fb2 | Tom Mullins | } |
37 | 12ea39cc | Tom Mullins | static inline char get_coil(char coil) { |
38 | return (coils >> coil) & 1; |
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39 | } |
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40 | |||
41 | static inline void tool_init() {DDRA |= _BV(DDA1);} |
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42 | static inline void tool_enable() {PORTA |= _BV(PA1);} |
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43 | 76915f20 | Tom Mullins | static inline void tool_disable() {PORTA &= ~ _BV(PA1);} |
44 | 12ea39cc | Tom Mullins | |
45 | 1085ef77 | Tom Mullins | static inline void serno_zero(uint8_t *serno) { |
46 | 1b054655 | Tom Mullins | memset(serno, 0, RFID_SERNO_SIZE);
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47 | } |
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48 | |||
49 | static char serno_is_nonzero(uint8_t *serno) { |
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50 | int i;
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51 | for (i = 0; i < RFID_SERNO_SIZE; i++) { |
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52 | if (serno[i]) {
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53 | return 1; |
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54 | } |
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55 | } |
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56 | return 0; |
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57 | } |
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58 | |||
59 | static char serno_equal(uint8_t *a, uint8_t *b) { |
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60 | return memcmp(a, b, RFID_SERNO_SIZE) == 0; |
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61 | } |
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62 | |||
63 | static void serno_cpy(uint8_t *dest, uint8_t *src) { |
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64 | memcpy(dest, src, RFID_SERNO_SIZE); |
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65 | } |
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66 | |||
67 | 94548bf4 | Tom Mullins | static void tool_tick() { |
68 | 12ea39cc | Tom Mullins | |
69 | switch (toolstate) {
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70 | |||
71 | case TS_INIT:
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72 | if (get_coil(MB_COIL_INIT)) {
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73 | set_coil(MB_COIL_NEW, 0);
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74 | set_coil(MB_COIL_EN, 0);
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75 | set_coil(MB_COIL_REQ_DIS, 0);
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76 | toolstate = TS_OFF; |
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77 | } |
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78 | break;
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79 | |||
80 | case TS_OFF:
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81 | f5d1f56a | Tom Mullins | led_off(); |
82 | 4b7d087b | Tom Mullins | set_coil(MB_COIL_EN, 0);
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83 | 1b054655 | Tom Mullins | if (serno_is_nonzero(latest_reading)) {
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84 | serno_cpy(current_user, latest_reading); |
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85 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_NEW, 1);
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86 | toolstate = TS_WAIT_ACCESS; |
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87 | } |
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88 | break;
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89 | |||
90 | case TS_WAIT_ACCESS:
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91 | 1b054655 | Tom Mullins | led_yellow(); |
92 | 12ea39cc | Tom Mullins | if (get_coil(MB_COIL_EN)) {
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93 | tool_enable(); |
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94 | toolstate = TS_ON; |
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95 | dc472500 | Tom Mullins | } else if (!get_coil(MB_COIL_NEW)) { |
96 | f5d1f56a | Tom Mullins | toolstate = TS_DENY; |
97 | 4b7d087b | Tom Mullins | } else if (!serno_equal(current_user, latest_reading)) { |
98 | set_coil(MB_COIL_NEW, 0);
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99 | toolstate = TS_OFF; |
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100 | 12ea39cc | Tom Mullins | } |
101 | break;
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102 | |||
103 | f5d1f56a | Tom Mullins | case TS_DENY:
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104 | led_red(); |
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105 | if (!serno_equal(current_user, latest_reading)) {
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106 | toolstate = TS_OFF; |
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107 | serno_zero(current_user); |
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108 | } |
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109 | bbf2f5ad | Tom Mullins | break;
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110 | f5d1f56a | Tom Mullins | |
111 | 12ea39cc | Tom Mullins | case TS_REQ_DIS:
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112 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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113 | tool_disable(); |
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114 | toolstate = TS_OFF; |
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115 | } else if (!get_coil(MB_COIL_REQ_DIS)) { |
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116 | toolstate = TS_ON; |
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117 | } else {
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118 | // TODO blink yellow for 10 seconds or something
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119 | set_coil(MB_COIL_EN, 0);
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120 | set_coil(MB_COIL_REQ_DIS, 0);
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121 | tool_disable(); |
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122 | 1b054655 | Tom Mullins | serno_zero(current_user); |
123 | e53aa5c5 | Tom Mullins | toolstate = TS_OFF; |
124 | } |
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125 | 12ea39cc | Tom Mullins | break;
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126 | |||
127 | case TS_MISSING_ID:
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128 | e53aa5c5 | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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129 | tool_disable(); |
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130 | toolstate = TS_OFF; |
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131 | } else if (get_coil(MB_COIL_REQ_DIS)) { |
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132 | toolstate = TS_REQ_DIS; |
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133 | 1b054655 | Tom Mullins | } else if (serno_equal(current_user, latest_reading)) { |
134 | 12ea39cc | Tom Mullins | toolstate = TS_ON; |
135 | bbf2f5ad | Tom Mullins | } else if (led_blink_done()) { |
136 | set_coil(MB_COIL_EN, 0);
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137 | tool_disable(); |
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138 | serno_zero(current_user); |
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139 | toolstate = TS_OFF; |
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140 | 12ea39cc | Tom Mullins | } |
141 | break;
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142 | |||
143 | case TS_ON:
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144 | 1b054655 | Tom Mullins | led_green(); |
145 | 12ea39cc | Tom Mullins | if (!get_coil(MB_COIL_EN)) {
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146 | tool_disable(); |
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147 | 1b054655 | Tom Mullins | serno_zero(current_user); |
148 | 12ea39cc | Tom Mullins | toolstate = TS_OFF; |
149 | e53aa5c5 | Tom Mullins | } else if(get_coil(MB_COIL_REQ_DIS)) { |
150 | 12ea39cc | Tom Mullins | toolstate = TS_REQ_DIS; |
151 | 1b054655 | Tom Mullins | } else if (!serno_equal(current_user, latest_reading)) { |
152 | 12ea39cc | Tom Mullins | toolstate = TS_MISSING_ID; |
153 | bbf2f5ad | Tom Mullins | led_blink_start(500, 6, YELLOW); // TODO made 10 seconds |
154 | 12ea39cc | Tom Mullins | } |
155 | break;
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156 | |||
157 | } |
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158 | |||
159 | } |
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160 | 208a6fb2 | Tom Mullins | |
161 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegCoilsCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils, |
162 | 20e5429c | Tom Mullins | eMBRegisterMode mode) { |
163 | 208a6fb2 | Tom Mullins | |
164 | dc472500 | Tom Mullins | addr--; |
165 | |||
166 | 532ba0bd | Tom Mullins | if (addr+n_coils > N_COILS) {
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167 | 20e5429c | Tom Mullins | return MB_ENOREG;
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168 | 208a6fb2 | Tom Mullins | } |
169 | |||
170 | if (mode == MB_REG_WRITE) {
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171 | |||
172 | switch (addr) {
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173 | |||
174 | case MB_COIL_NEW:
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175 | /* nop */
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176 | reg_buf[0] >>= 1; |
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177 | n_coils--; |
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178 | if (n_coils == 0) { |
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179 | return MB_ENOERR;
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180 | } |
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181 | |||
182 | case MB_COIL_EN:
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183 | set_coil(MB_COIL_NEW, 0);
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184 | set_coil(MB_COIL_EN, reg_buf[0] & 1); |
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185 | reg_buf[0] >>= 1; |
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186 | n_coils--; |
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187 | if (n_coils == 0) { |
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188 | return MB_ENOERR;
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189 | } |
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190 | |||
191 | case MB_COIL_REQ_DIS:
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192 | 12ea39cc | Tom Mullins | set_coil(MB_COIL_REQ_DIS, reg_buf[0] & 1); |
193 | 208a6fb2 | Tom Mullins | reg_buf[0] >>= 1; |
194 | n_coils--; |
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195 | if (n_coils == 0) { |
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196 | return MB_ENOERR;
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197 | } |
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198 | |||
199 | case MB_COIL_INIT:
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200 | set_coil(MB_COIL_INIT, reg_buf[0] & 1); |
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201 | reg_buf[0] >>= 1; |
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202 | n_coils--; |
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203 | if (n_coils == 0) { |
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204 | return MB_ENOERR;
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205 | } |
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206 | } |
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207 | |||
208 | 20e5429c | Tom Mullins | } else if (mode == MB_REG_READ) { |
209 | 208a6fb2 | Tom Mullins | |
210 | dc472500 | Tom Mullins | reg_buf[0] = (coils >> addr) & ((1 << n_coils) - 1); |
211 | 208a6fb2 | Tom Mullins | return MB_ENOERR;
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212 | |||
213 | 20e5429c | Tom Mullins | } |
214 | 208a6fb2 | Tom Mullins | |
215 | return MB_EIO;
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216 | 20e5429c | Tom Mullins | } |
217 | |||
218 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegDiscreteCB(UCHAR *reg_buf, USHORT addr, USHORT n_coils) { |
219 | 20e5429c | Tom Mullins | return MB_ENOREG;
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220 | } |
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221 | |||
222 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegInputCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs) { |
223 | |||
224 | dc472500 | Tom Mullins | addr--; |
225 | |||
226 | 20e5429c | Tom Mullins | switch (addr) {
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227 | 04b8cd51 | Tom Mullins | |
228 | case MB_INP_SERNOL:
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229 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[0];
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230 | *reg_buf++ = current_user[1];
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231 | 04b8cd51 | Tom Mullins | n_regs--; |
232 | if (n_regs == 0) { |
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233 | return MB_ENOERR;
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234 | } |
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235 | |||
236 | case MB_INP_SERNOH:
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237 | 76915f20 | Tom Mullins | *reg_buf++ = current_user[2];
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238 | *reg_buf++ = current_user[3];
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239 | 04b8cd51 | Tom Mullins | n_regs--; |
240 | if (n_regs == 0) { |
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241 | return MB_ENOERR;
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242 | } |
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243 | |||
244 | case MB_INP_CURRENT:
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245 | 10936c07 | Tom Mullins | *reg_buf++ = (uint8_t)(current >> 8);
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246 | *reg_buf++ = (uint8_t)current; |
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247 | 04b8cd51 | Tom Mullins | n_regs--; |
248 | if (n_regs == 0) { |
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249 | return MB_ENOERR;
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250 | 20e5429c | Tom Mullins | } |
251 | 04b8cd51 | Tom Mullins | |
252 | 20e5429c | Tom Mullins | default:
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253 | return MB_ENOREG;
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254 | } |
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255 | } |
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256 | |||
257 | 04b8cd51 | Tom Mullins | eMBErrorCode eMBRegHoldingCB(UCHAR *reg_buf, USHORT addr, USHORT n_regs, |
258 | 20e5429c | Tom Mullins | eMBRegisterMode mode) { |
259 | if (mode == MB_REG_WRITE) {
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260 | return MB_ENOREG;
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261 | } else if (mode == MB_REG_READ) { |
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262 | return MB_ENOREG;
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263 | } else {
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264 | return MB_EIO;
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265 | } |
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266 | } |
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267 | |||
268 | int main() {
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269 | bbf2f5ad | Tom Mullins | char rfid_ticks = 0, rfid_restart = 0; |
270 | 12ea39cc | Tom Mullins | |
271 | 94548bf4 | Tom Mullins | time_init(); |
272 | 532ba0bd | Tom Mullins | led_init(); |
273 | 12ea39cc | Tom Mullins | tool_init(); |
274 | 9b2b6d91 | Tom Mullins | rfid_init(); |
275 | 94548bf4 | Tom Mullins | current_init(); |
276 | 20e5429c | Tom Mullins | |
277 | a96c5547 | Tom Mullins | eMBInit(MB_RTU, TOOL_ADDRESS, 0, MB_BAUD, MB_PAR_NONE);
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278 | 20e5429c | Tom Mullins | eMBEnable(); |
279 | |||
280 | 208a6fb2 | Tom Mullins | sei(); |
281 | |||
282 | 532ba0bd | Tom Mullins | rfid_start_read(); |
283 | 20e5429c | Tom Mullins | while (1) { |
284 | bbf2f5ad | Tom Mullins | if (rfid_poll()) {
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285 | rfid_get_serno(latest_reading); |
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286 | rfid_restart = 1;
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287 | } |
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288 | if (++rfid_ticks >= RFID_PERIOD/TICK_MS && rfid_restart)
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289 | 94548bf4 | Tom Mullins | { |
290 | rfid_ticks = 0;
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291 | bbf2f5ad | Tom Mullins | rfid_restart = 0;
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292 | rfid_start_read(); |
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293 | 532ba0bd | Tom Mullins | } |
294 | 10936c07 | Tom Mullins | current = current_read(); |
295 | 94548bf4 | Tom Mullins | tool_tick(); |
296 | led_tick(); |
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297 | 20e5429c | Tom Mullins | eMBPoll(); |
298 | 94548bf4 | Tom Mullins | time_wait(); |
299 | 20e5429c | Tom Mullins | } |
300 | |||
301 | return 0; |
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302 | } |